In order to realize the largestroke and highresolution precision driving, a design method of piezoelectric inchworm linear motor is proposed. Firstly, based on the principle of inchworm movement, the structure of the motor is designed. It includes the left clamping mechanism, the right clamping mechanism, the driving mechanism and the output shaft. The left and right clamping mechanisms have the same structure and are used for alternately clamping the output shaft and releasing, the drive mechanism can stepout the displacement with micronscale and nanoscale. Under the joint action of the left clamping mechanism and the right clamping mechanism, the output shaft can continuously output a largestroke linear displacement. The motor’s structure is simple and compact, easy to adjust and can be powered off and selflocked. Secondly, the static and dynamic characteristics of the clamping and driving mechanism were analyzed with the finite element method. Finally, based on the constructed experimental system, the static and dynamic characteristics of the motor were tested. The results show that the output displacement of the motor has good linearity within the movement range of 5 mm. Under the driving voltage of 50 Hz, the motor’s working velocity is 59.1 μm/s. And the output displacement of the motor has a high resolution of 21 nm.